Discrete Actuator Array Vectorfield Design for Distributed Manipulation
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2235 - 2241, May, 1999
Abstract
The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.
BibTeX
@conference{Luntz-1999-14903,author = {Jon Luntz and W. Messner and Howie Choset},
title = {Discrete Actuator Array Vectorfield Design for Distributed Manipulation},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1999},
month = {May},
volume = {3},
pages = {2235 - 2241},
}
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